Non-linear MPC implementation for obstacle avoidance

I need to implement a NMPC for obstacle avoidance based on the uploaded paper.

Do you think that fmincon is a good function to use?

Thank you in advance.

[Walter Roberson]

https://www.mathworks.com/help/mpc/ug/nonlinear-mpc.html

Looks like they have designed the software to use fmincon so it is generally expected to produce results that are not outrageous.

[VALERIA ch]

Thank you for your reply, so you think it is a good idea?Or I must use another function?